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  /**
   * @brief JSBSim Airspeed Plugin
   *
   * This is a plugin modeling a airspeed sensor for JSBSim
   *
   * @author Jaeyoung Lim <jaeyoung@auterion.com>
   * @author Roman Bapst <roman@auterion.com>
   */
  
  #include "sensor_airspeed_plugin.h"
  
  SensorAirspeedPlugin::SensorAirspeedPlugin(JSBSim::FGFDMExec* jsbsim, msr::airlib::MultirotorRpcLibClient *client) : SensorPlugin(jsbsim, client) {}
  
  SensorAirspeedPlugin::~SensorAirspeedPlugin() {}
  
  void SensorAirspeedPlugin::setSensorConfigs(const TiXmlElement& configs) {
    GetConfigElement<std::string>(configs, "jsb_diff_pressure", _jsb_diff_pressure);
    GetConfigElement<double>(configs, "diff_pressure_stddev", _diff_pressure_stddev);
  }
  
  SensorData::Airspeed SensorAirspeedPlugin::getData() {
    double sim_time = _airsim_client->getJSBSimTime();
    double dt = sim_time - _last_sim_time;
  
    const double diff_pressure_noise = standard_normal_distribution_(_random_generator) * _diff_pressure_stddev;
  
    double diff_pressure = getDiffPressure();
  
    SensorData::Airspeed data;
    data.diff_pressure = diff_pressure + diff_pressure_noise;
  
    _last_sim_time = sim_time;
    return data;
  }
  
  double SensorAirspeedPlugin::getDiffPressure() { return psfToMbar(_airsim_client->getJSBSimProperty(_jsb_diff_pressure)); }
  